Force Feedback Glove for Manipulation of Virtual Objects

A grasp exoskeleton actuated by a string-based platform is proposed to provide the force feedback for a user’s hand in human-scale virtual environments. The user of this interface accedes to seven active degrees of freedom in interaction with virtual objects, which comprises three degrees of translation, three degrees of rotation, and one degree of grasping. The exoskeleton has a light and ergonomic structure and provides the grasp gesture for five fingers. The actuation of the exoskeleton is performed by eight strings that are the parallel arms of the platform. Each string is connected to a block of motor, rotary encoder, and force sensor with a novel design to create the necessary force and precision for the interface. A hybrid control method based on the string’s tension measured by the force sensor is developed to resolve the ordinary problems of string-based interface. The blocks could be moved on a cubic frame around the virtual environment. Finally the results of preliminary experimentation of interface are presented to show its practical characteristics. Also the interface is mounted on an automotive model to demonstrate its industrial adaptability.

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Gripping Force Feedback System for Neurosurgery

International Journal of Automation Technology ◽

10.20965/ijat.2014.p0083 ◽

2014 ◽

Vol 8 (1) ◽

pp. 83-94 ◽

Cited By ~ 11

Author(s):

Yoshinori Fujihira ◽

◽

Takuya Hanyu ◽

Yusuke Kanada ◽

Takeshi Yoneyama ◽

...

Keyword(s):

Force Feedback ◽

Feedback System ◽

Force Sensor ◽

Thin Plates ◽

Display Device ◽

Kinesthetic Sense ◽

The Difference ◽

Pulling Force ◽

Gripping Force ◽

Force Sense

A force feedback manipulator system was developed for use in neurosurgery. The system consists of a multidegree of freedom manipulator with a forcedetecting gripper and a device capable of using force feedback to display kinesthetic sense. The structure, which consists of parallel thin plates in the gripper of the manipulator, enables the detection of a gripping force and a pulling force, which can be used to grip and pull tumors. In this paper, we describe ways of improving the structure of the force sensor. Throughbilateral control, the operation device is able to display the gripping force as its driving force, and the pulling force as the frictional force between the display device and the skin of the finger. We also conducted experiments to test the force sense display capabilities of the developed system. The results showed that the system can display a force and the difference between the softness of different objects that are gripped. The ability of the system to identify different objects is increased by magnifying the detected force using an appropriate scale.

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Feedback Control of a Foldable Delta Mechanism with Integrated Inkjet-Printed Angle Sensors

10.36227/techrxiv.16688929.v1 ◽

2021 ◽

Author(s):

Dila Türkmen ◽

Merve Acer Kalafat

Keyword(s):

Feedback Control ◽

Single Step ◽

Radius Of Curvature ◽

Step Method ◽

Angle Sensor ◽

Proportional Control ◽

Printed Sensors ◽

Hinge Position ◽

The Difference ◽

First Time

Foldable robotics is accepted as one of the leading technologies in the soft robotics field. Integrating the sensing components, including hinge angle proprioception, into the robot with a single fabrication method is a part of the field’s ultimate goal. Here we present a cheap single-step method for angle sensing integration into the hinges, with an accurate and reproducible performance. We use silver nanoparticle inkjet printing on the flexible structural layer (PET) of the foldable robot (i.e. Delta robot), using an office-type printer. Silver printed sensors were studied for slight bending applications; however, we report their behavior under a 1 mm minimum radius of curvature, an advanced range both for silver strain sensors and any printed hinge position sensors. Among the three patterns studied, one gave a mean absolute dynamic hysteresis error below 1 degree. Reproducibility of a printed angle sensor behavior is reported for the first time, with three prototypes of each pattern (2degree standard deviation). Printed sensor feedback is tested with proportional control for the first time, via set-point and tracking tasks. On-off control law is also implemented and errors below 1 degree are achieved. Proportional control performances are compared with encoder feedback control and the difference between the realized trajectories are found to be under 1 mm in the task plane.<br>

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Feedback Control of a Foldable Delta Mechanism with Integrated Inkjet-Printed Angle Sensors

10.36227/techrxiv.16688929 ◽

2021 ◽

Author(s):

Dila Türkmen ◽

Merve Acer Kalafat

Keyword(s):

Feedback Control ◽

Single Step ◽

Radius Of Curvature ◽

Step Method ◽

Angle Sensor ◽

Proportional Control ◽

Printed Sensors ◽

Hinge Position ◽

The Difference ◽

First Time

Foldable robotics is accepted as one of the leading technologies in the soft robotics field. Integrating the sensing components, including hinge angle proprioception, into the robot with a single fabrication method is a part of the field’s ultimate goal. Here we present a cheap single-step method for angle sensing integration into the hinges, with an accurate and reproducible performance. We use silver nanoparticle inkjet printing on the flexible structural layer (PET) of the foldable robot (i.e. Delta robot), using an office-type printer. Silver printed sensors were studied for slight bending applications; however, we report their behavior under a 1 mm minimum radius of curvature, an advanced range both for silver strain sensors and any printed hinge position sensors. Among the three patterns studied, one gave a mean absolute dynamic hysteresis error below 1 degree. Reproducibility of a printed angle sensor behavior is reported for the first time, with three prototypes of each pattern (2degree standard deviation). Printed sensor feedback is tested with proportional control for the first time, via set-point and tracking tasks. On-off control law is also implemented and errors below 1 degree are achieved. Proportional control performances are compared with encoder feedback control and the difference between the realized trajectories are found to be under 1 mm in the task plane.<br>

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Research on Axis Piezoelectric Six-Component Force/Moment Sensor Clamp Device

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.427-429.1217 ◽

2013 ◽

Vol 427-429 ◽

pp. 1217-1222

Author(s):

Ning Xu ◽

Han Neng Ren ◽

Ying Jun Li

Keyword(s):

Force Feedback ◽

Simulation Analysis ◽

Force Measurement ◽

Surface Friction ◽

Force Sensor ◽

Structure Design ◽

Sensor Calibration ◽

Force Transmission ◽

Finite Element Software ◽

Component Force

The six-component force measurement and real-time force feedback is not only the basis of multi-equipment coordination of operational control and the force comply with the control, but also to develop the technical basis of the overloaded operators, equipment and other heavy equipment. This article designed a fastening device based on the swelling principle of surface friction, for the six-component force sensor with parallel axis rigid connection. Analysis the six-component force sensor measurement principle, study the blessing device dynamometer performance of six-component force sensor. Use the finite element software for modeling and simulation analysis of the structure. Design of the loading experiments, the experiments show that the fastening technology based on the principle of swelling of the surface friction, to solve the six-component force sensor axis fixed and force transmission, interference of swelling structure to the sensor calibration is relatively small, both achieve effective clamping, but also improves the transfer efficiency of the power flow. With good positioning, highly repetitive assembly and disassembly, convenient adjusting device, etc.

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